Surfaces Revamp

pupil_src/launchables/player.py

@@ -96,7 +96,7 @@ def player(rec_dir, ipc_pub_url, ipc_sub_url, ipc_push_url, user_dir, app_versio
 
         # from vis_scan_path import Vis_Scan_Path
         from seek_control import Seek_Control
-        from offline_surface_tracker import Offline_Surface_Tracker
+        from surface_tracker import Surface_Tracker_Offline
 
         # from marker_auto_trim_marks import Marker_Auto_Trim_Marks
         from fixation_detector import Offline_Fixation_Detector
@@ -146,7 +146,7 @@ def player(rec_dir, ipc_pub_url, ipc_sub_url, ipc_push_url, user_dir, app_versio
             Offline_Fixation_Detector,
             Offline_Eye_Movement_Detector,
             Offline_Blink_Detection,
-            Offline_Surface_Tracker,
+            Surface_Tracker_Offline,
             Raw_Data_Exporter,
             Annotation_Player,
             Log_History,

pupil_src/launchables/world.py

@@ -158,7 +158,7 @@ def set_detection_mapping_mode(new_mode):
         from time_sync import Time_Sync
         from pupil_remote import Pupil_Remote
         from pupil_groups import Pupil_Groups
-        from surface_tracker import Surface_Tracker
+        from surface_tracker import Surface_Tracker_Online
         from log_display import Log_Display
         from annotations import Annotation_Capture
         from log_history import Log_History
@@ -227,7 +227,7 @@ def get_timestamp():
             Frame_Publisher,
             Pupil_Remote,
             Time_Sync,
-            Surface_Tracker,
+            Surface_Tracker_Online,
             Annotation_Capture,
             Log_History,
             Fixation_Detector,

pupil_src/shared_modules/background_helper.py

@@ -26,19 +26,21 @@ class EarlyCancellationError(Exception):
 class Task_Proxy:
     """Future like object that runs a given generator in the background and returns is able to return the results incrementally"""
 
-    def __init__(self, name, generator, args=(), kwargs={}):
+    def __init__(self, name, generator, args=(), kwargs={}, context=...):
         super().__init__()
+        if context is ...:
+            context = mp.get_context()
 
-        self._should_terminate_flag = mp.Value(c_bool, 0)
+        self._should_terminate_flag = context.Value(c_bool, 0)
         self._completed = False
         self._canceled = False
 
-        pipe_recv, pipe_send = mp.Pipe(False)
+        pipe_recv, pipe_send = context.Pipe(False)
         wrapper_args = self._prepare_wrapper_args(
             pipe_send, self._should_terminate_flag, generator
         )
         wrapper_args.extend(args)
-        self.process = mp.Process(
+        self.process = context.Process(
             target=self._wrapper, name=name, args=wrapper_args, kwargs=kwargs
         )
         self.process.daemon = True

pupil_src/shared_modules/camera_models.py

@@ -155,7 +155,7 @@ def load_intrinsics(directory, cam_name, resolution):
 
         intrinsics = calib_dict[str(resolution)]
         logger.info("Previously recorded calibration found and loaded!")
-    except Exception as e:
+    except Exception:
         logger.info(
             "No user calibration found for camera {} at resolution {}".format(
                 cam_name, resolution
@@ -213,7 +213,6 @@ def save_intrinsics(directory, cam_name, resolution, intrinsics):
 
 
 class Camera_Model(abc.ABC):
-
     @abc.abstractmethod
     def undistort(self, img: np.ndarray) -> np.ndarray:
         ...
@@ -235,7 +234,15 @@ def projectPoints(
         ...
 
     @abc.abstractmethod
-    def solvePnP(self, uv3d, xy):
+    def solvePnP(
+        self,
+        uv3d,
+        xy,
+        flags: int = cv2.SOLVEPNP_ITERATIVE,
+        useExtrinsicGuess: bool = False,
+        rvec: typing.Optional[np.ndarray] = None,
+        tvec: typing.Optional[np.ndarray] = None,
+    ):
         ...
 
     @abc.abstractmethod
@@ -373,6 +380,16 @@ def projectPoints(self, object_points, rvec=None, tvec=None, use_distortion=True
             image_points.shape = (-1, 1, 2)
         return image_points
 
+    def undistortPoints(self, points):
+        points = self.unprojectPoints(points, use_distortion=True)
+        points = self.projectPoints(points, use_distortion=False)
+        return points
+
+    def distortPoints(self, points):
+        points = self.unprojectPoints(points, use_distortion=False)
+        points = self.projectPoints(points, use_distortion=True)
+        return points
+
     def solvePnP(
         self,
         uv3d,
@@ -416,12 +433,6 @@ def solvePnP(
 
         return res
 
-    def undistortPoints(self, xy):
-        xy_undist = cv2.fisheye.undistortPoints(
-            xy, self.K, self.D, R=np.eye(3), P=self.K
-        )
-        return xy_undist
-
     def save(self, directory, custom_name=None):
         """
         Saves the current calibration to corresponding camera's calibrations file
@@ -533,6 +544,16 @@ def projectPoints(self, object_points, rvec=None, tvec=None, use_distortion=True
             image_points.shape = (-1, 1, 2)
         return image_points
 
+    def undistortPoints(self, points):
+        points = self.unprojectPoints(points, use_distortion=True)
+        points = self.projectPoints(points, use_distortion=False)
+        return points
+
+    def distortPoints(self, points):
+        points = self.unprojectPoints(points, use_distortion=False)
+        points = self.projectPoints(points, use_distortion=True)
+        return points
+
     def solvePnP(
         self,
         uv3d,
@@ -563,9 +584,6 @@ def solvePnP(
         )
         return res
 
-    def undistortPoints(self, xy):
-        return cv2.undistortPoints(xy, self.K, self.D)
-
     def save(self, directory, custom_name=None):
         """
         Saves the current calibration to corresponding camera's calibrations file

pupil_src/shared_modules/file_methods.py

@@ -10,6 +10,7 @@
 """
 
 import collections
+import collections.abc
 import logging
 import os
 import pickle